67 lines
1.4 KiB
Text
67 lines
1.4 KiB
Text
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/** @file
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* @brief Encapsules the implementation of ANN k-d trees.
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* @author Ulugbek Makhmudov, Jacobs University Bremen, Bremen, Germany.
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* @author Andreas Nuechter, Jacobs University Bremen, Bremen, Germany.
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*/
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#ifndef __ANN_KD_H__
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#define __ANN_KD_H__
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#include "slam6d/kdparams.h"
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#include "slam6d/searchTree.h"
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#include "ANN/ANN.h"
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/**
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* @brief Encapsulating class to create and store ANN KD Trees.
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*
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* A kD tree for points, with limited
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* capabilities (find nearest point to
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* a given point, or in a fixed radius distance).
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**/
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class ANNtree : public SearchTree {
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public:
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/**
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* default constructor
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*/
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ANNtree();
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/**
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* Constructor using the point set pts and the num_of_pts n
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*/
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ANNtree(PointerArray<double>&_pts, int n);
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/**
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* destructor
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*/
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virtual ~ANNtree();
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/**
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* Finds the closest point within the tree,
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* wrt. the point given as first parameter.
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* @param _p point
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* @param maxdist2 maximal search distance.
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* @param threadNum Thread number, for parallelization
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* @return Pointer to the closest point
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*/
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double *FindClosest(double *_p, double maxdist2, int threadNum = 0) const;
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private:
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/**
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* a pointer to ANNkd_tree instance
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*/
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ANNkd_tree* annkd;
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ANNdistArray nn; //temporary ANNdistArray instance to use for storing the nearest neighbor
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ANNidxArray nn_idx; //temporary ANNdistArray instance to use for storing the nearest neighbor
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double** pts;
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};
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#endif
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